ACI1-1

AC Induction Motor Control

(Single phase)

Open Loop V/Hz Control

Closed Loop Speed Control
DC Bus Ripple Compensation

System Document

Digital Control Systems (DCS) Group

Texas Instruments
April 30, 2003
 ACI1-1 – System overview
Modules BOX_CAR RMP_CNTL
CAP_EVENT_DRV SINCOSPH
COMPWM SINTB360
DATA_LOG SPEED_PRD
PID_ID SYS_INIT
FC_PWM_O_DRV V_HZ_PROFILE
ADC04U_DRV
System S/W ASM “C”
Program memory 1402 words 1915 words 1
Data memory 205 words 495 words 1
Development / Code Composer Studio v2.2 (or above) with Real
Emulation Time debug

Target controller H/W Spectrum Digital – F243 / F2407 EVMs , F2407

eZdsp*

Power Inverter H/W Spectrum Digital – DMC1500

Motor Type Single Phase Induction Motor

PWM frequency 15 KHz (Timer T1 based)
PWM mode Symmetrical with Dead band
Interrupts 1 (Timer 1 underflow)
Main sampling loop 15KHz
Peripheral Resources Timer 1 & 2, PWM 1/2/3/4, 2 ADC Channels
Used

* Default target HW is F2407 eZdsp. If different target is used, the software may need to be modified.

1
Note: The C version of the software at this time excludes the modules COMPWM,
FC_PWM_O_DRV, and ADC04U_DRV. Instead, the module FC_PWM_DRV has been
used. Also, the incremental build level 4 is not implemented for the C system.
System Overview
Figure 1 shows the complete system configuration for a single-phase ACI motor drive. A
full H-bridge is utilized to control two phase voltages of the motor. Four PWM channels
from the DSP control four power devices of the inverter. Two analog to digital channels
are utilized to measure DC bus voltages. One capture input is needed to measure the
speed of the drive.

x24xx
DSP
PWM1
+
PWM2
Line PWM1 PWM3 ACI
PWM3
Single phase
PWM4
Neutral

ADCINx
+
PWM2 PWM4
ADCINx
CAP1

CAP1

Tacho

ADCINx

ADCINx

Figure 1: Single-phase ACI motor drive system configuration

Software Flowchart

c_int0
INT2 interrupt

Initialize
S/W Modules Save contexts and
clear interrupt
Initialize timer T1 flags
and realtime time monitor

Execute the
Enable T1 selected
underflow interrupt incremental build
and core interrupt
INT2.
Execute
DATA_LOG
module

Initialize other Return

Restore contexts
system parameters
and incremental
build options

Background loop INT2

1.0 Hardware and Software Configuration
1.1 Hardware
The experimental system consists of the following hardware components:
1. Spectrum Digital DMC1500 drive platform;
2. TMS320F243, TMS320F2407 EVM, or TMS320F2407 eZdsp platform (default
target);
3. Single Phase AC Induction(ACI) motor;
4. IBM compatible development environment including an IBM compatible PC with
Code Composer Studio (CCS) v2.20 installed;

Refer to the User’s Guides and or Manuals fo r configuration of items 2 and 4 and their
connection to the system. The following are some of the other system level choices that
must be made:

1.1.1 Configuration for DMC1500

Jumper Jumper Setting Comments
Number

P21-P22 Install jumper for ac input

neutral connection
P15-P16 Install jumper for voltage Donot use DMC1500 boards
doubler front-end in voltage doubler mode with
configuration only 220VAC input.
JP1, JP2, JP3 Install all jumpers Use 3-Phase power inverter
configuration
JP4 Remove jumper Use DC bus current sense
resistor R6
JP6, JP9 Remove jumpers Use sense amplifier circuits to
condition voltages before
applying to ADC inputs
JP20 Install jumper on pins 1-2 Use sense amplifier circuit to
condition dc bus voltage
JP19 Install jumper on pins 1-2 Use sense amplifier circuit to
condition dc bus cap voltage
JP24 Install jumper on pins 27-28, Apply conditioned voltage
33-34 and remove jumper on signals to ADC input
pins 23-24.
JP17 Install jumper on pins 1-2 Disable PFC circuit
JP27 Install jumper on pins 1-2 Use s/w to enable/disable
PWM signals on DMC1500
1.1.2 Configuration for DMC to EVM Interface Board
Jumper Jumper Setting Comments
Number
JP1 Remove jumper
JP2 Install jumper

1.2 Loading and building CC Project for Assembly case

In order to use the CC workspace file in “C:\TIDCS\DMC\C24\SYS \ACI1_1\ASM”

system directory, all necessary assembly modules in the modular library located in
“C:\TIDCS \DMC\C24\LIB\DMCLIB\ALIB ” and
“C:\TIDCS \DMC\C24\LIB\DRVLIB\ALIB” directories are linked into the system
project file. The assembly files needed for this system are – Box_car, Cap_drv, Data_log,
PID_ID, ADC4UDRV, Rmp_cntl, Sincosph, Sintb360, Speed_pr, Pwmodrv, Compwm.
All the assembly modules used as described above are linked into the project file as well
as real-time monitor related files, which are located in “C:\TIDCS\DMC\C24\RTMON”
directory. The other files in this system directory are:

• The ACI system assemb ly file aci1_10.asm and sys_init.asm;

• The linker command file, aci1_10.cmd, that defines memory map and specifies
memory allocation;
• One header file x24x_app.h;
• CC project file aci11.pjt;
• CC workspace file (aci1_1.wks) which contains the setup information for the
whole project and debugging environment.

It is also assumed that the emulator used is XDS510pp. Once the directory
“C:\TIDCS \DMC\C24\SYS\ACI1_1\ASM” contains all the necessary files (as
mentioned above), the next step is to provide the supply voltage (+5V DC) to the
x2407eZdsp and RESET the emulator. Then start the Code Composer and open the
project aci11.pjt. Now load the workspace file aci1_1.wks.

Loading the workspace will automatically open up the project file aci11.pjt and show all
the files relevant to the project. The following shows the expanded project view as part of
CC environment aci1_1.wks is loaded:

Note that the same project can be built from scratch easily if the workspace file,
aci1_1.wks, can’t be loaded directly because of differences in CC setup and or emulator
used. Refer to CC tutorial for information on a building project.

The variables in the Watch Window can be added manually according to CC tutorial.

From the ‘PROGRAM LOAD OPTIONS’ in CC select ‘Load Program After Build’ for
automatic loading of the program to the target once the program is compiled.
1.3 Loading and building CC Project for “C” case

The process for loading and building the C version of the ACI1-1 system is same as the
assembly case with the following exceptions:

1. Modules: The modules COMPWM, FC_PWM_O_DRV, and ADC04U_DRV are

excluded at this time. The module FC_PWM_DRV is used instead of
FC_PWM_O_DRV. The DATA_LOG module has pointer variables that need proper
configuration. These pointers should point to the variables whose values are desired
to be saved in the memory. For example, to save the values of a variable ‘sine_a1’ in
the memory, the following code is used to set the pointer:

dlog1.dlog_iptr1=&vhz.sc.sine_a1;

This outputs ‘sine_a1’ to the DATA_LOG Channel 1,

2. Incremental Build Control: The build level is set in the header file, build.h in the C
infrastructure. This header file is in the
C:\TIDCS \DMC\C24\SYS\ACI1_1\C\INCLUDE\ directory. The incremental build
level 4 is not implemented for the C system.

To set the build level, define the symbol BUILDLEVEL to one of the available levels.

/*--------------------------------------------------------------------------------------------------------
Following is the list of the Build Level choices.
-----------------------------------------------------------------------------------------------------------*/
#define LEVEL1 1
#define LEVEL2 2
#define LEVEL3 3
#define LEVEL3 4 /* This LEVEL4 is not implemented yet */

/*--------------------------------------------------------------------------------------------------------
This line sets the BUILDLEVEL to one of the available choices.
-----------------------------------------------------------------------------------------------------------*/
#define BUILDLEVEL LEVEL3

3. The target processor selection is in the header file, target.h. This file is included in
the code composer project and can also be found in the directory

C:\TIDCS \DMC\C24\SYS\ACI1_1\C\INCLUDE\

To change the processor set the TARGET macro to the desired one.

/*--------------------------------------------------------------------------------------------------------
Following is the selection list of the target choices.
Note that the F241 is represented by the F243 and the
LF2407 represents the LF2406 and the LF2402.
---------------------------------------------------------------------------------------------------------*/
#define F240 1
#define F243 2
 #define F2407 4
#define UNKNOWN 8

/*--------------------------------------------------------------------------------------------------------
This line sets the target to one of the available choices.
---------------------------------------------------------------------------------------------------------*/
#define TARGET F2407

4. The object VHZ11_TI is defined in the header file, vhz11_ti.h and it is implemented
as vhz in aci11.c. This has many sub-objects such as PIDREG1, SINCOSPH,
RMPCNTL, etc. To modify variables such as pid coefficients, etc. watch:
i. The entire object vhz , and observe/modify vhz.pid.Kp_reg1.
ii. An alternative is to watch vhz.pid and modify pid.Kp_reg1.
Watching smaller objects in the watch window has the advantage of lowering the
amount of data that must be up- loaded to the debug tool.

2.0 Incremental System Build – Phase 1

Assuming section 1.0 is completed successfully, this section describes the steps for a
“minimum” system check-out which confirms operation of system interrupts, some
peripheral & target independent modules and one peripheral dependent module.

In the SYSTEM OPTIONS section of the code, select phase 1 incremental build option
by setting the constant phase1_commissioning to 1. Save the program, compile it and
load it to the target.

2.1 Phase 1
• In this phase, two sine waves are generated based on the user speed input as
shown in Figure-1. Three software modules are utilized in this phase to generate two
sine wave forms.
• Set phase1_commissioning = 1 in ACI1_10.asm as shown below-

phase1_commissioning .set 1
phase2_commissioning .set 0
phase3_commissioning .set 0
phase4_commissioning .set 0

• The software modules utilized in this phase are – RAMP_CNTL, V_Hz_PROFILE,

SINCOSPH
• RAMP_CNTL is utilized to avoid sudden change in speed command.
• V_Hz_PROFILE generates a voltage command “v_out”. V_Hz_PROFILE also
maintains a fixed ratio between the input frequency and voltage command.
• The module SINCOSPH generates two sine waves. The phase angle between these
waves can be controlled by modifying the variable “phase_in”.
• The generated wave forms can be watched using the software module
“DATA_LOG”.
• In order to watch the waveforms in real time initialize dlog_iptr1 = sine_a1 &
dlog_iptr2 = sine_a2.
• Figure 2 shows the CC window with phase 1 running.

• Appendix-1 shows the complete software block diagram.

 rpm_scaler phase_in

sine_a1
speed_setpt
RAMP_CNTL x V_Hz_PROFILE SINCOSPH
sine_a2

Graph Window1
DATA_LOG
Graph Window2

Figure 1 Phase 1 incremental build for ACI1-1

Figure 2 CC window for Phase 1 incremental build of ACI1-1

3.0 Incremental System Build – Phase 2
Successful completion of this phase will enable one to operate a single phase AC
induction motor with open loop speed control. Closed loop speed control is not
implemented in Phase 2, however, software block is utilized to measure the speed. This
will verify the proper operation of speed measuring hardware (sprocket & hall effect
sensor).

In Phase-2 of incremental system build, a single phase AC induction motor will be

operated using DMC1500 board (www.spectrumdigital.com) and x2407eZdsp board
from TI. In Phase-2a few software checks are made and then in Phase-2b an inverter
and motor is used to operate a single phase ac induction motor with variable speed
control.

3.1 Incremental System Build – Phase 2a

• Set phase2_commissioning = 1 in ACI1_10.asm as shown below-

phase1_commissioning .set 0
phase2_commissioning .set 1
phase3_commissioning .set 0
phase4_commissioning .set 0

• The software block diagram of Phase-2a is shown in Figure 3.

• The additional software modules added in this Phase-2a are FC_PWM_DRV and
SPEED_PRD.
• FC_PWM_DRV configures PWM module of the DSP controller. It also provides the
required dead band through avoid shoot thorough faults. The third input, Mfunc_c3,
FC_PWM_DRV is set to zero. This is necessary because a single-phase AC
induction drive utilizes only four PWM channels.
• SPEED_PRD calculates motor speed from the capture events. The capture module
of the device is configured at the very beginning by calling CAP_EVENT_DRV_INIT
module.
• The variable “direction” can be set to “1” or “0” to change the direction of rotation of
RPM_SCALER

speed_setpt
X RAMP_CNTL V_Hz_PROFILE SINCOSPH

phase_in CC GRAPH DISPLAY 1

0
CC GRAPH DISPLAY 2

direction
CC GRAPH DISPLAY 1

CC GRAPH DISPLAY 1

PWM 1
PWM 2
FC_PWM_DRV
PWM 3
PWM 4

SPEED_PRD CAP_EVENT_DRV

Figure 3 Phase 2a software block diagram for ACI1-1 system.

the motor. When direction is equal to “1’, sine wave-1 will lead sine wave-2. If
direction is equal to “0” than the opposite will happen. The available graph display in
CC can be utilized to observe this. Put dlog_iptr1 = Mfunc_c1 & dlog_iptr2 =
Mfunc_c2. Figure 4 & Figure 5 shows how two sine waves lead or lag each other
depending on the value of “direction”.

Figure 4 CC Display window with dlog_iptr1=Mfunc_c1,

dlog_iptr2=Mfunc_c2, phase=90, direction=1 (wave 1 leads wave 2)
 Figure 5 CC Display window with dlog_iptr1=Mfunc_c1,
dlog_iptr2=Mfunc_c2, phase=90, direction=0 (wave 1 lags wave 2).
Motor rotational direction in Figure 5 will be opposite of rotational
direction in Figure 4.
3.2 Incremental System Build – Phase 2b
In this phase a single phase AC induction motor is connected with an voltage source
inverter and the above mentioned software is utilized to implement a variable speed
drive. A x2407eZdsp is interfaced with DMC1500 board to setup the controller and
power stage of the drive. Figure 6 shows the connection between induction motor and
DMC1500. The following steps are needed for proper setup of operation –

• Turn the variac all the CCW to zero voltage position.

• Connect the variac to 120V wall socket.
• Connect a current probe with any motor phase.
• Power ON x2407eZdsp and DMC1500 boards.
• Start CC and load the software.
• Once the software is running, apply DC bus voltage by rotating the variac. At this
time the current probe should show sinusoidal phase current and after sufficient DC
bus voltage, the motor will start rotating.
• The direction of rotation will depend on two variables – First the motor phase
connections and second the value of the variable “direction”.
• Changing the value of “direction” as mentioned in the previous section (Phase 2a)
can change the rotational direction.
• Modifying the variable “speed_setpt” can vary the motor speed. The maximum speed
is fixed at 2500RPM. However, user can change that by modifying V_Hz_PROFILE
software module.
• Figure 7 shows motor phase currents.
• Appendix-2 shows the complete software block diagram of phase-2.

Q1 Q3

C1

NEUTRAL-P19-P20

LINE-P16-P17 P14 P1/P2 P3/P4

Q2 Q4

C2

PHASE 1

PHASE 2

Figure 6 Hardware connection between a single phase AC induction motor and

DMC1500 board.
Figure 7 Motor phase currents, 2A/div (phase 1 current is le ading phase 2
current by 90 degrees) .
4.1 Incremental System Build – Phase 3

In this phase, the same single phase AC induction motor is operated in variable speed
mode. However, in this phase, the speed of the motor is measured using a hall effect
sensor,and hardware capture module of the DSP controller in order to close the speed
loop. The following asm files are utilized to measure the motor speed–

a. CAP_DRV.asm : configures the capture module

b. SPEED_PR.asm : calculates speed from captured values
c. Box_car : calculates the average of the calculated speed.
: This eliminates jitters in speed sensing hardware.

The following steps will ensure proper operation of Phase-3 –

• Set phase3_commissioning = 1 in ACI1_10.asm as shown below-

phase1_commissioning .set 0
phase2_commissioning .set 0
phase3_commissioning .set 1
phase4_commissioning .set 0

• The Hall effect speed sensor output is connected to P30 of DMC1500. P30 has
ground, power and capture input. The available ground and power from P30 can be
utilized as sensor ground and power. The voltage output at P30 can be set at various
level to match the sensor requirement.
• The remaining hardware setup is similar to Phase-2b.
• After starting the software, the motor will start rotating as the DC bus voltage is
applied by rotating the variac from zero to higher voltages.
• The measured speed can be watched by adding the variable “speed_rpm” in the
watch window.
• The speed loop is closed by putting closed_loop_flag=1
• Appendix-3 shows the complete software block diagram of Phase-3.
5.1 Incremental System Build – Phase 4

In this stage, the same single phase AC induction motor is operated with DC bus
voltage ripple compensation. The configuration of single phase AC induction
motor drive inverter creates significant DC bus voltage ripple. This DC bus
voltage ripple distorts the inverter output voltage and consequently lowers the
drive performance. The drive is made immune to ripple voltage my adjusting
PWM outputs according to the DC bus voltage variation. In a single -phase
inverter, voltage across both capacitors is measured to implement independent
phase voltage compensation. The following asm files are utilized to implement
ripple compensation –

Compwm.asm – Adjusts PWM waveforms according to DC bus voltage.

ADC04DRV.asm - Measures DC bus voltages across two capacitors.

The following steps are necessary for Phase-4.

• Set phase4_commissioning = 1 in ACI1_10.asm as shown below-

phase1_commissioning .set 0
phase2_commissioning .set 0
phase3_commissioning .set 0
phase4_commissioning .set 1

• Remove file PWMODRV.asm from the project and ADD COMPWM.asm to

the project.
• Initialize the reference DC bus voltages ADC_ref1 and ADC_ref2. ADC_ref1
is upper capacitor voltage and ADC_ref2 is lower capacitor voltage. These
numbers should be provided in Q15 format (see the COMPWM sofware
module documentation).
• In this implementation 120VAC is supplied to the inverter.
• DMC1000 board is utilized to implement this phase. Two ADC channels are
utilized to measure DC bus voltages. ADC07 measures the complete DC bus
voltage (software variable is total_bus). ADC05 measures the lower capacitor
voltage (software variable is half_bus). From these two measurements,
individual capacitor voltages are calculated. For example, ADC1 is the
voltage across the top capacitor and is equal to the difference between
total_bus and half_bus.
• The software is initialized with the compensation turned off. In order to turn on
the compensation the variable DC_RIPPLE should be changed from 0 to 1.
• Appendix-4 shows the complete software block diagram of Phase-3.
 APPENDIX – 1 Phase 1

rpm_scaler

phase_in phase
SINCOSPH

speed_setpt target_value setpt_value freq_in

freq sine_a1

RAMP_CNTL
sine_a2
V_Hz_
vhz_freq PROFILE v_out
gain_cs
APPENDIX -2 Phase – 2

rpm_scaler

phase_in phase
SINCOSPH
target_value setpt_value
speed_set freq_in
freq sine_a1
pt
RAMP_CNTL
sine_a2
V_Hz_
vhz_freq PROFILE v_out
gain_cs

direction

sine_a1 PWM1
FC_PWM EV
sine_a2 mfunc_c1
DRV PWM2

mfunc_c2
Q0 HW PWM3

EV CAP_ PWM4
EVENT_ SPEED_
CAPn CAP1FIFO time_stamp PRD speed_prd
H/W DRV mfunc_c3

0
Q15
APPENDIX – III Phase –3

closed_loop_flag
rpm_scaler

target_value setpt_value

RAMP_CNTL

speed_set D_ref D_PID_

pt REG
freq_in

EV CAP_
EVENT_ SPEED_ BOX_CAR
CAPn CAP1FIFO time_stamp PRD speed_prd BC_IN BC_OUT D_fb
H/W DRV

Q15

direction
phase_i phase
n SINCOSPH
PWM1
freq_in mfunc_c3 FC_PWM EV
freq
DRV PWM2
sine_a1
V_Hz_ Q0 HW PWM3
vhz_freq PROFILE v_out mfunc_c1
gain_cs sine_a2
PWM4
Q15 / Q15 mfunc_c2
APPENDIX – IV Phase – 4

rpm_scaler

phase_in

speed_set setpt_value freq_in

target_value
pt
RAMP_CNTL
V_Hz_
vhz_freq PROFILE v_out

direction

phase phase_in

SINCOSPH freq
sine_a1
EV COMPWM
PWM1 gain_cs
mfunc_c1 sine_a2
PWM2
HW mfunc_c2
PWM3

PWM4
mfunc_c3

0
ADC channel connected to
VDC_ACTUAL total_bus
ADC04DRV EV measure total DC bus voltage
VDC_HOT HW
half_bus
ADC channel connected to
DC_RIPPLE ripple_on measure half of DC bus voltage